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 * modification, are permitted provided that the following conditions
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#pragma once

#include "autopilot_tester.h"

#include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/failure/failure.h>


class AutopilotTesterFailure : public AutopilotTester
{
public:
	AutopilotTesterFailure() = default;
	~AutopilotTesterFailure() = default;

	void set_param_sys_failure_en(bool value);
	void set_param_fd_act_en(bool value);
	void set_param_mc_airmode(int value);
	void set_param_ca_failure_mode(int value);
	void set_param_com_act_fail_act(int value);

	void enable_actuator_output_status();
	void ensure_motor_stopped(unsigned index, unsigned num_motors);

	void inject_failure(mavsdk::Failure::FailureUnit failure_unit, mavsdk::Failure::FailureType failure_type, int instance,
			    mavsdk::Failure::Result expected_result);
	void connect(const std::string uri);

private:
	std::unique_ptr<mavsdk::Failure> _failure{};
};
